summaryrefslogtreecommitdiff
path: root/2004/i/nono
diff options
context:
space:
mode:
authorschodet2004-04-22 21:53:09 +0000
committerschodet2004-04-22 21:53:09 +0000
commit66b1ebc00ffc4bc57ad80343576f7594f19dafe7 (patch)
tree8ff8d42243fb62e2741b495aece79eedc19d715c /2004/i/nono
parent6d74f6f2588bf92bd117df4aa134094db57fbdcc (diff)
Asservissement version 0.4
Diffstat (limited to '2004/i/nono')
-rw-r--r--2004/i/nono/runtime/rc/asserv3
-rw-r--r--2004/i/nono/runtime/rc/asserv.i3862
-rw-r--r--2004/i/nono/runtime/rc/motor6
-rw-r--r--2004/i/nono/runtime/rc/movement/goto8
4 files changed, 10 insertions, 9 deletions
diff --git a/2004/i/nono/runtime/rc/asserv b/2004/i/nono/runtime/rc/asserv
index 4f7d4bb..09e89de 100644
--- a/2004/i/nono/runtime/rc/asserv
+++ b/2004/i/nono/runtime/rc/asserv
@@ -1,4 +1,5 @@
-accel 1
+accel 8
counter true
ki 16
tty "/dev/tty00"
+ttyspeed 38400
diff --git a/2004/i/nono/runtime/rc/asserv.i386 b/2004/i/nono/runtime/rc/asserv.i386
index 9be0cff..05d4dc9 100644
--- a/2004/i/nono/runtime/rc/asserv.i386
+++ b/2004/i/nono/runtime/rc/asserv.i386
@@ -1 +1 @@
-tty "/dev/null"
+tty "/dev/ttyS0"
diff --git a/2004/i/nono/runtime/rc/motor b/2004/i/nono/runtime/rc/motor
index ef3fa5d..43c9708 100644
--- a/2004/i/nono/runtime/rc/motor
+++ b/2004/i/nono/runtime/rc/motor
@@ -1,6 +1,6 @@
scale -.1204059790
speedscale -30.1014947637
-#accelscale 300.7626868453
-accelscale 1000
-maxspeed 0x40
+accelscale 940.67171136562
+maxspeed 0x20
minspeed 0x01
+brakedistance 500
diff --git a/2004/i/nono/runtime/rc/movement/goto b/2004/i/nono/runtime/rc/movement/goto
index 478fee9..67284c7 100644
--- a/2004/i/nono/runtime/rc/movement/goto
+++ b/2004/i/nono/runtime/rc/movement/goto
@@ -1,5 +1,5 @@
-epsilon 100
-distance 150
-kpl 1.0 kil 0.1 kdl 0.7
-kpa 1.0 kia 0.1 kda 0.7
+epsilon 30
+distance 100
+kpl 1.0 kil 0.0 kdl 0.7
+kpa 1.0 kia 0.01 kda 0.7
is 20